1 Unstar Star 1 Fork 3

Firmament Autopilot / FMT_ModelMatlabGPL-3.0

Create your Gitee Account
Explore and code with more than 5 million developers,Free private repositories !:)
Sign up
Clone or download
Cancel
Notice: Creating folder will generate an empty file .keep, because not support in Git
Loading...
README.md

FMT

GitHub license

Overview

Firmament Model (FMT Model) is a part of Firmament Autopilot project, which includes the simulation framework, such as model-in-the-loop , hardware-in-the-loop and open-loop simulation. Apart from that, the algorithm library is provided which contains various of simulink model including INS, Controller, FMS, Plant, which can be used for different vehicles. These models can generate C/C++ source file and easily integrate into FMT Firmware.

structure"

Quick Start

FMT Model is mainly developed and tested in Matlab 2018b, so it's strongly recommended to use this version. However, it's possible to open the project with higher matlab version, but that is not well tested.

Initialization

To initialize the project, simply click and run FMT_Model.prj, which will do everything for you.

MIL Simulation

Follow the belowing steps to start MIL simulation:

  • Open the MIL simulation model $FMT_Model/simulation/MILSIM.slx.
  • Modify FCS/RC module to select rc signal source (Variant->Label Model Active Choice). Currently there are two source supported:
    • Joystick (default): A joystick should be connected to your PC.
    • Mavlink: In this way, rc signal would be sent via mavlink protocol. Make sure you uncomment macro FMT_OUTPUT_PILOT_CMD in $FMT_Firmware/fmt_fmu/target/pixhawk/fmtconfig.h.
  • Modify Virtualization module to select 3D environment.
    • Matlab_3D (default): Matlab 3D Animation
    • Flightgear: Flightgear Simulator
  • Clock Run button to start the simulation.

Open-loop Simulation

Follow the belowing steps to start open-loop simulation:

  • Parse blog.bin log file and load *.mat files into matlab workspace.
  • Run utils/log_parser/load_parameter.m script to load model parameters from log file.
  • Open the open-loop simulation model $FMT_Model/simulation/OpenLoopSIM.slx.
  • Clock Run button to start the simulation.

Donation

Thank you very much for your donation, so that I can have more time and enthusiasm to continue to work on this project.

Contact

Wellcome to join our QQ group

QR

Comments ( 0 )

Sign in for post a comment

Matlab
1
https://gitee.com/firmament-autopilot/FMT_Model.git
git@gitee.com:firmament-autopilot/FMT_Model.git
firmament-autopilot
FMT_Model
FMT_Model
master

Search

132457 8cb2edc1 1899542 131848 70c8d3a4 1899542